src/rtos/FreeRTOS.c

   1 /***************************************************************************
   2  *   Copyright (C) 2011 by Broadcom Corporation                            *
   3  *   Evan Hunter - ehunter@broadcom.com                                    *
   4  *                                                                         *
   5  *   This program is free software; you can redistribute it and/or modify  *
   6  *   it under the terms of the GNU General Public License as published by  *
   7  *   the Free Software Foundation; either version 2 of the License, or     *
   8  *   (at your option) any later version.                                   *
   9  *                                                                         *
  10  *   This program is distributed in the hope that it will be useful,       *
  11  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
  12  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
  13  *   GNU General Public License for more details.                          *
  14  *                                                                         *
  15  *   You should have received a copy of the GNU General Public License     *
  16  *   along with this program; if not, write to the                         *
  17  *   Free Software Foundation, Inc.,                                       *
  18  *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
  19  ***************************************************************************/
  20
  21 #ifdef HAVE_CONFIG_H
  22 #include "config.h"
  23 #endif
  24
  25 #include <helper/time_support.h>
  26 #include <jtag/jtag.h>
  27 #include "target/target.h"
  28 #include "target/target_type.h"
  29 #include "rtos.h"
  30 #include "helper/log.h"
  31 #include "rtos_standard_stackings.h"
  32
  33 #define FREERTOS_MAX_PRIORITIES 63
  34
  35 #define FreeRTOS_STRUCT(int_type, ptr_type, list_prev_offset)
  36
  37 struct FreeRTOS_params {
  38         const char *target_name;
  39         const unsigned char thread_count_width;
  40         const unsigned char pointer_width;
  41         const unsigned char list_next_offset;
  42         const unsigned char list_width;
  43         const unsigned char list_elem_next_offset;
  44         const unsigned char list_elem_content_offset;
  45         const unsigned char thread_stack_offset;
  46         const unsigned char thread_name_offset;
  47         const struct rtos_register_stacking *stacking_info;
  48 };
  49
  50 const struct FreeRTOS_params FreeRTOS_params_list[] = {
  51         {
  52         "cortex_m3",                    /* target_name */
  53         4,                                              /* thread_count_width; */
  54         4,                                              /* pointer_width; */
  55         16,                                             /* list_next_offset; */
  56         20,                                             /* list_width; */
  57         8,                                              /* list_elem_next_offset; */
  58         12,                                             /* list_elem_content_offset */
  59         0,                                              /* thread_stack_offset; */
  60         52,                                             /* thread_name_offset; */
  61         &rtos_standard_Cortex_M3_stacking,      /* stacking_info */
  62         }
  63 };
  64
  65 #define FREERTOS_NUM_PARAMS ((int)(sizeof(FreeRTOS_params_list)/sizeof(struct FreeRTOS_params)))
  66
  67 static int FreeRTOS_detect_rtos(struct target *target);
  68 static int FreeRTOS_create(struct target *target);
  69 static int FreeRTOS_update_threads(struct rtos *rtos);
  70 static int FreeRTOS_get_thread_reg_list(struct rtos *rtos, int64_t thread_id, char **hex_reg_list);
  71 static int FreeRTOS_get_symbol_list_to_lookup(symbol_table_elem_t *symbol_list[]);
  72
  73 struct rtos_type FreeRTOS_rtos = {
  74         .name = "FreeRTOS",
  75
  76         .detect_rtos = FreeRTOS_detect_rtos,
  77         .create = FreeRTOS_create,
  78         .update_threads = FreeRTOS_update_threads,
  79         .get_thread_reg_list = FreeRTOS_get_thread_reg_list,
  80         .get_symbol_list_to_lookup = FreeRTOS_get_symbol_list_to_lookup,
  81 };
  82
  83 enum FreeRTOS_symbol_values {
  84         FreeRTOS_VAL_pxCurrentTCB = 0,
  85         FreeRTOS_VAL_pxReadyTasksLists = 1,
  86         FreeRTOS_VAL_xDelayedTaskList1 = 2,
  87         FreeRTOS_VAL_xDelayedTaskList2 = 3,
  88         FreeRTOS_VAL_pxDelayedTaskList = 4,
  89         FreeRTOS_VAL_pxOverflowDelayedTaskList = 5,
  90         FreeRTOS_VAL_xPendingReadyList = 6,
  91         FreeRTOS_VAL_xTasksWaitingTermination = 7,
  92         FreeRTOS_VAL_xSuspendedTaskList = 8,
  93         FreeRTOS_VAL_uxCurrentNumberOfTasks = 9,
  94         FreeRTOS_VAL_uxTopUsedPriority = 10,
  95 };
  96
  97 static char *FreeRTOS_symbol_list[] = {
  98         "pxCurrentTCB",
  99         "pxReadyTasksLists",
 100         "xDelayedTaskList1",
 101         "xDelayedTaskList2",
 102         "pxDelayedTaskList",
 103         "pxOverflowDelayedTaskList",
 104         "xPendingReadyList",
 105         "xTasksWaitingTermination",
 106         "xSuspendedTaskList",
 107         "uxCurrentNumberOfTasks",
 108         "uxTopUsedPriority",
 109         NULL
 110 };
 111
 112 #define FREERTOS_NUM_SYMBOLS (sizeof(FreeRTOS_symbol_list)/sizeof(char *))
 113
 114 /* TODO: */
 115 /* this is not safe for little endian yet */
 116 /* may be problems reading if sizes are not 32 bit long integers. */
 117 /* test mallocs for failure */
 118
 119 static int FreeRTOS_update_threads(struct rtos *rtos)
 120 {
 121         int i = 0;
 122         int retval;
 123         int tasks_found = 0;
 124         const struct FreeRTOS_params *param;
 125
 126         if (rtos->rtos_specific_params == NULL)
 127                 return -1;
 128
 129         param = (const struct FreeRTOS_params *) rtos->rtos_specific_params;
 130
 131         if (rtos->symbols == NULL) {
 132                 LOG_OUTPUT("No symbols for FreeRTOS\r\n");
 133                 return -3;
 134         }
 135
 136         if (rtos->symbols[FreeRTOS_VAL_uxCurrentNumberOfTasks].address == 0) {
 137                 LOG_OUTPUT("Don't have the number of threads in FreeRTOS \r\n");
 138                 return -2;
 139         }
 140
 141         int thread_list_size = 0;
 142         retval = target_read_buffer(rtos->target,
 143                         rtos->symbols[FreeRTOS_VAL_uxCurrentNumberOfTasks].address,
 144                         param->thread_count_width,
 145                         (uint8_t *)&thread_list_size);
 146
 147         if (retval != ERROR_OK) {
 148                 LOG_OUTPUT("Could not read FreeRTOS thread count from target\r\n");
 149                 return retval;
 150         }
 151
 152         /* wipe out previous thread details if any */
 153         if (rtos->thread_details != NULL) {
 154                 int j;
 155                 for (j = 0; j < rtos->thread_count; j++) {
 156                         if (rtos->thread_details[j].display_str != NULL) {
 157                                 free(rtos->thread_details[j].display_str);
 158                                 rtos->thread_details[j].display_str = NULL;
 159                         }
 160                         if (rtos->thread_details[j].thread_name_str != NULL) {
 161                                 free(rtos->thread_details[j].thread_name_str);
 162                                 rtos->thread_details[j].thread_name_str = NULL;
 163                         }
 164                         if (rtos->thread_details[j].extra_info_str != NULL) {
 165                                 free(rtos->thread_details[j].extra_info_str);
 166                                 rtos->thread_details[j].extra_info_str = NULL;
 167                         }
 168                 }
 169                 free(rtos->thread_details);
 170                 rtos->thread_details = NULL;
 171         }
 172
 173         /* read the current thread */
 174         retval = target_read_buffer(rtos->target,
 175                         rtos->symbols[FreeRTOS_VAL_pxCurrentTCB].address,
 176                         param->pointer_width,
 177                         (uint8_t *)&rtos->current_thread);
 178         if (retval != ERROR_OK) {
 179                 LOG_OUTPUT("Error reading current thread in FreeRTOS thread list\r\n");
 180                 return retval;
 181         }
 182
 183         if ((thread_list_size  == 0) || (rtos->current_thread == 0)) {
 184                 /* Either : No RTOS threads - there is always at least the current execution though */
 185                 /* OR     : No current thread - all threads suspended - show the current execution
 186                  * of idling */
 187                 char tmp_str[] = "Current Execution";
 188                 thread_list_size++;
 189                 tasks_found++;
 190                 rtos->thread_details = (struct thread_detail *) malloc(
 191                                 sizeof(struct thread_detail) * thread_list_size);
 192                 if (!rtos->thread_details) {
 193                         LOG_ERROR("Error allocating memory for %d threads", thread_list_size);
 194                         return ERROR_FAIL;
 195                 }
 196                 rtos->thread_details->threadid = 1;
 197                 rtos->thread_details->exists = true;
 198                 rtos->thread_details->display_str = NULL;
 199                 rtos->thread_details->extra_info_str = NULL;
 200                 rtos->thread_details->thread_name_str = (char *) malloc(sizeof(tmp_str));
 201                 strcpy(rtos->thread_details->thread_name_str, tmp_str);
 202
 203                 if (thread_list_size == 1) {
 204                         rtos->thread_count = 1;
 205                         return ERROR_OK;
 206                 }
 207         } else {
 208                 /* create space for new thread details */
 209                 rtos->thread_details = (struct thread_detail *) malloc(
 210                                 sizeof(struct thread_detail) * thread_list_size);
 211                 if (!rtos->thread_details) {
 212                         LOG_ERROR("Error allocating memory for %d threads", thread_list_size);
 213                         return ERROR_FAIL;
 214                 }
 215         }
 216
 217         /* Find out how many lists are needed to be read from pxReadyTasksLists, */
 218         int64_t max_used_priority = 0;
 219         retval = target_read_buffer(rtos->target,
 220                         rtos->symbols[FreeRTOS_VAL_uxTopUsedPriority].address,
 221                         param->pointer_width,
 222                         (uint8_t *)&max_used_priority);
 223         if (retval != ERROR_OK)
 224                 return retval;
 225         if (max_used_priority > FREERTOS_MAX_PRIORITIES) {
 226                 LOG_ERROR("FreeRTOS maximum used priority is unreasonably big, not proceeding: %" PRId64 "",
 227                         max_used_priority);
 228                 return ERROR_FAIL;
 229         }
 230
 231         symbol_address_t *list_of_lists =
 232                 (symbol_address_t *)malloc(sizeof(symbol_address_t) *
 233                         (max_used_priority+1 + 5));
 234         if (!list_of_lists) {
 235                 LOG_ERROR("Error allocating memory for %" PRId64 " priorities", max_used_priority);
 236                 return ERROR_FAIL;
 237         }
 238
 239         int num_lists;
 240         for (num_lists = 0; num_lists <= max_used_priority; num_lists++)
 241                 list_of_lists[num_lists] = rtos->symbols[FreeRTOS_VAL_pxReadyTasksLists].address +
 242                         num_lists * param->list_width;
 243
 244         list_of_lists[num_lists++] = rtos->symbols[FreeRTOS_VAL_xDelayedTaskList1].address;
 245         list_of_lists[num_lists++] = rtos->symbols[FreeRTOS_VAL_xDelayedTaskList2].address;
 246         list_of_lists[num_lists++] = rtos->symbols[FreeRTOS_VAL_xPendingReadyList].address;
 247         list_of_lists[num_lists++] = rtos->symbols[FreeRTOS_VAL_xSuspendedTaskList].address;
 248         list_of_lists[num_lists++] = rtos->symbols[FreeRTOS_VAL_xTasksWaitingTermination].address;
 249
 250         for (i = 0; i < num_lists; i++) {
 251                 if (list_of_lists[i] == 0)
 252                         continue;
 253
 254                 /* Read the number of threads in this list */
 255                 int64_t list_thread_count = 0;
 256                 retval = target_read_buffer(rtos->target,
 257                                 list_of_lists[i],
 258                                 param->thread_count_width,
 259                                 (uint8_t *)&list_thread_count);
 260                 if (retval != ERROR_OK) {
 261                         LOG_OUTPUT("Error reading number of threads in FreeRTOS thread list\r\n");
 262                         free(list_of_lists);
 263                         return retval;
 264                 }
 265
 266                 if (list_thread_count == 0)
 267                         continue;
 268
 269                 /* Read the location of first list item */
 270                 uint64_t prev_list_elem_ptr = -1;
 271                 uint64_t list_elem_ptr = 0;
 272                 retval = target_read_buffer(rtos->target,
 273                                 list_of_lists[i] + param->list_next_offset,
 274                                 param->pointer_width,
 275                                 (uint8_t *)&list_elem_ptr);
 276                 if (retval != ERROR_OK) {
 277                         LOG_OUTPUT("Error reading first thread item location in FreeRTOS thread list\r\n");
 278                         free(list_of_lists);
 279                         return retval;
 280                 }
 281
 282                 while ((list_thread_count > 0) && (list_elem_ptr != 0) &&
 283                                 (list_elem_ptr != prev_list_elem_ptr) &&
 284                                 (tasks_found < thread_list_size)) {
 285                         /* Get the location of the thread structure. */
 286                         rtos->thread_details[tasks_found].threadid = 0;
 287                         retval = target_read_buffer(rtos->target,
 288                                         list_elem_ptr + param->list_elem_content_offset,
 289                                         param->pointer_width,
 290                                         (uint8_t *)&(rtos->thread_details[tasks_found].threadid));
 291                         if (retval != ERROR_OK) {
 292                                 LOG_OUTPUT("Error reading thread list item object in FreeRTOS thread list\r\n");
 293                                 free(list_of_lists);
 294                                 return retval;
 295                         }
 296
 297                         /* get thread name */
 298
 299                         #define FREERTOS_THREAD_NAME_STR_SIZE (200)
 300                         char tmp_str[FREERTOS_THREAD_NAME_STR_SIZE];
 301
 302                         /* Read the thread name */
 303                         retval = target_read_buffer(rtos->target,
 304                                         rtos->thread_details[tasks_found].threadid + param->thread_name_offset,
 305                                         FREERTOS_THREAD_NAME_STR_SIZE,
 306                                         (uint8_t *)&tmp_str);
 307                         if (retval != ERROR_OK) {
 308                                 LOG_OUTPUT("Error reading first thread item location in FreeRTOS thread list\r\n");
 309                                 free(list_of_lists);
 310                                 return retval;
 311                         }
 312                         tmp_str[FREERTOS_THREAD_NAME_STR_SIZE-1] = '\x00';
 313
 314                         if (tmp_str[0] == '\x00')
 315                                 strcpy(tmp_str, "No Name");
 316
 317                         rtos->thread_details[tasks_found].thread_name_str =
 318                                 (char *)malloc(strlen(tmp_str)+1);
 319                         strcpy(rtos->thread_details[tasks_found].thread_name_str, tmp_str);
 320                         rtos->thread_details[tasks_found].display_str = NULL;
 321                         rtos->thread_details[tasks_found].exists = true;
 322
 323                         if (rtos->thread_details[tasks_found].threadid == rtos->current_thread) {
 324                                 char running_str[] = "Running";
 325                                 rtos->thread_details[tasks_found].extra_info_str = (char *) malloc(
 326                                                 sizeof(running_str));
 327                                 strcpy(rtos->thread_details[tasks_found].extra_info_str,
 328                                         running_str);
 329                         } else
 330                                 rtos->thread_details[tasks_found].extra_info_str = NULL;
 331
 332                         tasks_found++;
 333                         list_thread_count--;
 334
 335                         prev_list_elem_ptr = list_elem_ptr;
 336                         list_elem_ptr = 0;
 337                         retval = target_read_buffer(rtos->target,
 338                                         prev_list_elem_ptr + param->list_elem_next_offset,
 339                                         param->pointer_width,
 340                                         (uint8_t *)&list_elem_ptr);
 341                         if (retval != ERROR_OK) {
 342                                 LOG_OUTPUT("Error reading next thread item location in FreeRTOS thread list\r\n");
 343                                 free(list_of_lists);
 344                                 return retval;
 345                         }
 346                 }
 347         }
 348
 349         free(list_of_lists);
 350         rtos->thread_count = tasks_found;
 351         return 0;
 352 }
 353
 354 static int FreeRTOS_get_thread_reg_list(struct rtos *rtos, int64_t thread_id, char **hex_reg_list)
 355 {
 356         int retval;
 357         const struct FreeRTOS_params *param;
 358         int64_t stack_ptr = 0;
 359
 360         *hex_reg_list = NULL;
 361         if (rtos == NULL)
 362                 return -1;
 363
 364         if (thread_id == 0)
 365                 return -2;
 366
 367         if (rtos->rtos_specific_params == NULL)
 368                 return -1;
 369
 370         param = (const struct FreeRTOS_params *) rtos->rtos_specific_params;
 371
 372         /* Read the stack pointer */
 373         retval = target_read_buffer(rtos->target,
 374                         thread_id + param->thread_stack_offset,
 375                         param->pointer_width,
 376                         (uint8_t *)&stack_ptr);
 377         if (retval != ERROR_OK) {
 378                 LOG_OUTPUT("Error reading stack frame from FreeRTOS thread\r\n");
 379                 return retval;
 380         }
 381
 382         return rtos_generic_stack_read(rtos->target, param->stacking_info, stack_ptr, hex_reg_list);
 383
 384 }
 385
 386 static int FreeRTOS_get_symbol_list_to_lookup(symbol_table_elem_t *symbol_list[])
 387 {
 388         unsigned int i;
 389         *symbol_list = (symbol_table_elem_t *) malloc(
 390                         sizeof(symbol_table_elem_t) * FREERTOS_NUM_SYMBOLS);
 391
 392         for (i = 0; i < FREERTOS_NUM_SYMBOLS; i++)
 393                 (*symbol_list)[i].symbol_name = FreeRTOS_symbol_list[i];
 394
 395         return 0;
 396 }
 397
 398 #if 0
 399
 400 static int FreeRTOS_set_current_thread(struct rtos *rtos, threadid_t thread_id)
 401 {
 402         return 0;
 403 }
 404
 405 static int FreeRTOS_get_thread_ascii_info(struct rtos *rtos, threadid_t thread_id, char **info)
 406 {
 407         int retval;
 408         const struct FreeRTOS_params *param;
 409
 410         if (rtos == NULL)
 411                 return -1;
 412
 413         if (thread_id == 0)
 414                 return -2;
 415
 416         if (rtos->rtos_specific_params == NULL)
 417                 return -3;
 418
 419         param = (const struct FreeRTOS_params *) rtos->rtos_specific_params;
 420
 421 #define FREERTOS_THREAD_NAME_STR_SIZE (200)
 422         char tmp_str[FREERTOS_THREAD_NAME_STR_SIZE];
 423
 424         /* Read the thread name */
 425         retval = target_read_buffer(rtos->target,
 426                         thread_id + param->thread_name_offset,
 427                         FREERTOS_THREAD_NAME_STR_SIZE,
 428                         (uint8_t *)&tmp_str);
 429         if (retval != ERROR_OK) {
 430                 LOG_OUTPUT("Error reading first thread item location in FreeRTOS thread list\r\n");
 431                 return retval;
 432         }
 433         tmp_str[FREERTOS_THREAD_NAME_STR_SIZE-1] = '\x00';
 434
 435         if (tmp_str[0] == '\x00')
 436                 strcpy(tmp_str, "No Name");
 437
 438         *info = (char *)malloc(strlen(tmp_str)+1);
 439         strcpy(*info, tmp_str);
 440         return 0;
 441 }
 442
 443 #endif
 444
 445 static int FreeRTOS_detect_rtos(struct target *target)
 446 {
 447         if ((target->rtos->symbols != NULL) &&
 448                         (target->rtos->symbols[FreeRTOS_VAL_pxReadyTasksLists].address != 0)) {
 449                 /* looks like FreeRTOS */
 450                 return 1;
 451         }
 452         return 0;
 453 }
 454
 455 static int FreeRTOS_create(struct target *target)
 456 {
 457         int i = 0;
 458         while ((i < FREERTOS_NUM_PARAMS) &&
 459                         (0 != strcmp(FreeRTOS_params_list[i].target_name, target->type->name))) {
 460                 i++;
 461         }
 462         if (i >= FREERTOS_NUM_PARAMS) {
 463                 LOG_OUTPUT("Could not find target in FreeRTOS compatibility list\r\n");
 464                 return -1;
 465         }
 466
 467         target->rtos->rtos_specific_params = (void *) &FreeRTOS_params_list[i];
 468         return 0;
 469 }